PxVehiclePhysXConstraintStatesUpdate

Defined in include/vehicle2/physxConstraints/PxVehiclePhysXConstraintFunctions.h

void PxVehiclePhysXConstraintStatesUpdate(const PxVehicleSuspensionParams &suspensionParams, const PxVehiclePhysXSuspensionLimitConstraintParams &suspensionLimitParams, const PxVehicleSuspensionState &suspensionState, const PxVehicleSuspensionComplianceState &suspensionComplianceState, const PxVec3 &groundPlaneNormal, const PxReal tireStickyDampingLong, const PxReal tireStickyDampingLat, const PxVehicleTireDirectionState &tireDirectionState, const PxVehicleTireStickyState &tireStickyState, const PxVehicleRigidBodyState &rigidBodyState, PxVehiclePhysXConstraintState &constraintState)

Read constraint data from the vehicle’s internal state for a single wheel and write it to a structure that will be read by the associated PxScene and used to impose the constraints during the next PxScene::simulate() step.

Note

Constraints include suspension constraints to account for suspension travel limit and sticky tire constraints that bring the vehicle to rest at low longitudinal and lateral speed.

Parameters

  • suspensionParams – [in] describes the suspension frame.

  • suspensionLimitParams – [in] describes the restitution value applied to any constraint triggered by the suspension travel limit.

  • suspensionState – [in] describes the excess suspension compression beyond the suspension travel limit that will be resolved with a constraint.

  • suspensionComplianceState – [in] describes the effect of suspension compliance on the effective application point of the suspension force.

  • groundPlaneNormal – [in] The normal direction of the ground plane the wheel is driving on. A normalized vector is expected.

  • tireStickyDampingLong – [in] The damping coefficient to use in the constraint to approach a zero target velocity along the longitudinal tire axis.

  • tireStickyDampingLat – [in] Same concept as tireStickyDampingLong but for the lateral tire axis.

  • tireDirectionState – [in] describes the longitudinal and lateral directions of the tire in the world frame.

  • tireStickyState – [in] describes the low speed state of the tire in the longitudinal and lateral directions.

  • rigidBodyState – [in] describes the pose of the rigid body.

  • constraintState – [out] is the data structure that will be read by the associated PxScene in the next call to PxScene::simulate().